@inproceedings{Schmidt06:ASM,
  author = {J. Schmidt and C. K. Wong and W. K. Yeap},
  title = {{A Split \& Merge Approach to Metric-Topological Map-Building}},
  booktitle = {International Conference on Pattern Recognition (ICPR)},
  year = 2006, 
  editor = {Y. Y. Tang and S. P. Wang and G. Lorette and D. S. Yeung and H. Yan},
  pages = {1069-1072},
  address = {Hong Kong},
  month = {August},
  isbn = {0-7695-2521-0}
}